From 834de9ba8423f9b3142d33007ffa5b3c67132fc8 Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Thu, 28 Nov 2013 17:59:12 +0100
Subject: [PATCH 01/14] Bunch of implementations

---
 Code/GamePhysics/GamePhysics.vcxproj.filters  |   2 +-
 Code/GamePhysics/Implementation/Octree.cpp    |  60 ++++++++-
 Code/GamePhysics/Implementation/Octree.h      |  10 +-
 .../Implementation/PhysicsAPI_Impl.cpp        | 123 +++++++++++++-----
 .../Implementation/PhysicsAPI_Impl.h          |   4 +-
 Code/GamePhysics/PhysicsAPI.h                 |   2 +-
 6 files changed, 158 insertions(+), 43 deletions(-)

diff --git a/Code/GamePhysics/GamePhysics.vcxproj.filters b/Code/GamePhysics/GamePhysics.vcxproj.filters
index 72b83568..694a8ec7 100644
--- a/Code/GamePhysics/GamePhysics.vcxproj.filters
+++ b/Code/GamePhysics/GamePhysics.vcxproj.filters
@@ -51,7 +51,7 @@
       <Filter>Source Files</Filter>
     </ClCompile>
     <ClCompile Include="Implementation\Octree.cpp">
-      <Filter>Header Files\Implementation</Filter>
+      <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp
index 6a6416b8..baa431da 100644
--- a/Code/GamePhysics/Implementation/Octree.cpp
+++ b/Code/GamePhysics/Implementation/Octree.cpp
@@ -2,6 +2,9 @@
 
 using namespace Oyster;
 using namespace	Physics;
+using namespace ::Utility::DynamicMemory;
+
+const unsigned int Octree::invalid_ref = ::Utility::Value::numeric_limits<unsigned int>::max();
 
 Octree::Octree(unsigned int bufferSize, unsigned char numLayers, Math::Float3 worldSize)
 {
@@ -26,7 +29,7 @@ Octree& Octree::operator=(const Octree& orig)
 	return *this;
 }
 
-void Octree::AddObject(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef)
+void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
 {
 	Data data;
 	//Data* tempPtr = this->worldNode.dataPtr;
@@ -54,15 +57,15 @@ void Octree::AddObject(Utility::DynamicMemory::UniquePointer< ICustomBody > cust
 	}*/
 }
 
-void Octree::MoveToUpdateQueue(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef)
+void Octree::MoveToUpdateQueue(UniquePointer< ICustomBody > customBodyRef)
 {
 	/*this->leafData[this->mapReferences[customBodyRef]].queueRef = this->updateQueue.size();
 	this->updateQueue.push_back(&this->leafData[this->mapReferences[customBodyRef]]);*/
 }
 
-void Octree::DestroyObject(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef)
+void Octree::DestroyObject(UniquePointer< ICustomBody > customBodyRef)
 {
-	std::map<ICustomBody*, unsigned int>::iterator it = this->mapReferences.find(customBodyRef);
+	std::map<const ICustomBody*, unsigned int>::iterator it = this->mapReferences.find(customBodyRef);
 
 	this->mapReferences.erase(it);
 
@@ -116,4 +119,53 @@ void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
 ICustomBody* Octree::GetCustomBody(const unsigned int tempRef)
 {
 	return this->leafData[tempRef].customBodyRef;
+}
+
+UniquePointer<ICustomBody> Octree::Extract( const ICustomBody* objRef )
+{ // Dan Andersson
+	auto iter = this->mapReferences.find( objRef );
+	if( iter != this->mapReferences.end() )
+	{
+		return this->Extract( iter->second );
+	}
+	else
+	{
+		return NULL;
+	}
+}
+
+UniquePointer<ICustomBody> Octree::Extract( unsigned int tempRef )
+{
+	if( tempRef != Octree::invalid_ref )
+	{
+		//! @todo TODO: implement stub
+		return NULL;
+	}
+	else
+	{
+		return NULL;
+	}
+}
+
+unsigned int Octree::GetTemporaryReferenceOf( const ICustomBody* objRef ) const
+{ // Dan Andersson
+	auto iter = this->mapReferences.find( objRef );
+	if( iter != this->mapReferences.end() )
+	{
+		return iter->second;
+	}
+	else
+	{
+		return Octree::invalid_ref;
+	}
+}
+
+void Octree::SetAsAltered( unsigned int tempRef )
+{
+	//! @todo TODO: implement stub
+}
+
+void Octree::EvaluatePosition( unsigned int tempRef )
+{
+	//! @todo TODO: implement stub
 }
\ No newline at end of file
diff --git a/Code/GamePhysics/Implementation/Octree.h b/Code/GamePhysics/Implementation/Octree.h
index 8d111329..5ef3b0a8 100644
--- a/Code/GamePhysics/Implementation/Octree.h
+++ b/Code/GamePhysics/Implementation/Octree.h
@@ -15,6 +15,8 @@ namespace Oyster
 		class Octree
 		{
 		public:
+			static const unsigned int invalid_ref;
+
 			typedef void(*VistorAction)(Octree&, unsigned int, unsigned int);
 
 			struct Data
@@ -52,11 +54,17 @@ namespace Oyster
 
 			ICustomBody* GetCustomBody(const unsigned int tempRef);
 
+			::Utility::DynamicMemory::UniquePointer<ICustomBody> Extract( const ICustomBody* objRef );
+			::Utility::DynamicMemory::UniquePointer<ICustomBody> Extract( unsigned int tempRef ); // Dan vill ha
+			unsigned int GetTemporaryReferenceOf( const ICustomBody* objRef ) const; // Dan vill ha
+			void SetAsAltered( unsigned int tempRef ); // Dan vill ha
+			void EvaluatePosition( unsigned int tempRef ); // Dan vill ha
+
 		private:
 			std::vector < Data > leafData;
 			std::vector < Data* > updateQueue;
 
-			std::map< ICustomBody*, unsigned int > mapReferences;
+			std::map< const ICustomBody*, unsigned int > mapReferences;
 
 			OctreeNode worldNode;
 		};
diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index 6c9b212a..0374704f 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -42,21 +42,24 @@ API & API::Instance()
 }
 
 API_Impl::API_Impl()
-	: gravityConstant( Constant::gravity_constant ),
-	  updateFrameLength( 1.0f / 120.0f ),
-	  destructionAction( Default::EventAction_Destruction )
-{}
+{
+	this->gravityConstant = Constant::gravity_constant;
+	this->updateFrameLength = 1.0f / 120.0f;
+	this->destructionAction = Default::EventAction_Destruction;
+	this->worldScene = Octree();
+}
 
 API_Impl::~API_Impl() {}
 
 void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
 {
-	//! @todo TODO: implement stub
+	unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize
+	this->worldScene = Octree( numObjects, numLayers, worldSize );
 }
 
-void API_Impl::SetDeltaTime( float deltaTime )
+void API_Impl::SetFrameTimeLength( float deltaTime )
 {
-	updateFrameLength = deltaTime;
+	this->updateFrameLength = deltaTime;
 }
 
 void API_Impl::SetGravityConstant( float g )
@@ -98,68 +101,117 @@ void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
 
 void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
 {
-	/** @todo TODO: Fix this function.*/
+	this->worldScene.AddObject( handle );
 }
 
-::Utility::DynamicMemory::UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
+UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
 {
-	//! @todo TODO: implement stub
-	return NULL;
+	return this->worldScene.Extract( objRef );
 }
 
 void API_Impl::DestroyObject( const ICustomBody* objRef )
 {
-	/** @todo TODO: Fix this function.*/
+	UniquePointer<ICustomBody> object = this->worldScene.Extract( objRef );
+	if( object != NULL )
+	{
+		this->destructionAction( object );
+	}
 }
 
 void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		//this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function
+		this->worldScene.SetAsAltered( tempRef );		
+	}
 }
 
 void API_Impl::ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, Float &deltaWhen, Float3 &worldPointOfContact )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRefA );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		//! @todo TODO: implement stub
+		this->worldScene.SetAsAltered( tempRef );		
+	}
 }
 
 void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI )
-{
-	//! @todo TODO: implement stub
+{ // deprecated
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI );
+	}
 }
 
 void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI )
-{
-	//! @todo TODO: implement stub
+{ // deprecated
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI );
+	}
 }
 
 void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m )
-{
-	//! @todo TODO: implement stub
+{ // deprecated
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m );
+	}
 }
 
 void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m )
-{
-	//! @todo TODO: implement stub
+{ // deprecated
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m );
+	}
 }
 
 void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		//this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function
+		this->worldScene.EvaluatePosition( tempRef );
+	}
 }
 
 void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation );
+		this->worldScene.EvaluatePosition( tempRef );
+	}
 }
 
 void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation );
+		this->worldScene.EvaluatePosition( tempRef );
+	}
 }
 
 void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
 {
-	//! @todo TODO: implement stub
+	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	if( tempRef != this->worldScene.invalid_ref )
+	{
+		this->worldScene.GetCustomBody( tempRef )->SetSize( size );
+		this->worldScene.EvaluatePosition( tempRef );
+	}
 }
 
 UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const
@@ -172,15 +224,16 @@ UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDe
 	return new SphericalRigidBody( desc );
 }
 
-namespace Oyster { namespace Physics { namespace Default
+namespace Oyster { namespace Physics
 {
+	namespace Default
+	{
+		void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
+		{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
 
-	void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
-	{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
-
-	::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
-	{ /* Do nothing except returning business as usual. */
-		return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
+		::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
+		{ /* Do nothing except returning business as usual. */
+			return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
+		}
 	}
-
-} } }
\ No newline at end of file
+} }
\ No newline at end of file
diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
index 7d6858f0..5de9c05a 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
@@ -2,6 +2,7 @@
 #define PHYSICS_API_IMPL_H
 
 #include "../PhysicsAPI.h"
+#include "Octree.h"
 
 namespace Oyster
 {
@@ -15,7 +16,7 @@ namespace Oyster
 
 			void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize );
 
-			void SetDeltaTime( float deltaTime );
+			void SetFrameTimeLength( float deltaTime );
 			void SetGravityConstant( float g );
 			void SetSubscription( EventAction_Destruction functionPointer );
 
@@ -47,6 +48,7 @@ namespace Oyster
 		private:
 			::Oyster::Math::Float gravityConstant, updateFrameLength;
 			EventAction_Destruction destructionAction;
+			Octree worldScene;
 		};
 
 		namespace Default
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index 6cba993c..5d44b695 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -64,7 +64,7 @@ namespace Oyster
 			/********************************************************
 			 * Sets the time length of each physics update frame.
 			 ********************************************************/
-			virtual void SetDeltaTime( float seconds ) = 0;
+			virtual void SetFrameTimeLength( float seconds ) = 0;
 			
 			/********************************************************
 			 * Sets the Gravityconstant in the physics that will be

From 14b1f20b87a21e4a3386b79f69e603f124310766 Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Thu, 28 Nov 2013 18:05:19 +0100
Subject: [PATCH 02/14] minor compilation error fix

Forgot that UniquePointer had a special operator for checking if it is
not NULL >.<
---
 Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index 0374704f..ed8f8eed 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -112,7 +112,7 @@ UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
 void API_Impl::DestroyObject( const ICustomBody* objRef )
 {
 	UniquePointer<ICustomBody> object = this->worldScene.Extract( objRef );
-	if( object != NULL )
+	if( object )
 	{
 		this->destructionAction( object );
 	}

From 255a0b0070ed94ec38a8097b97f76085791febed Mon Sep 17 00:00:00 2001
From: Robin Engman <robinengman@hotmail.com>
Date: Fri, 29 Nov 2013 09:03:37 +0100
Subject: [PATCH 03/14] Added overloads for visitor and sample functions

They now have an overload for accepting ICollideable
---
 Code/GamePhysics/Implementation/Octree.cpp | 34 ++++++++++++++++++----
 Code/GamePhysics/Implementation/Octree.h   |  4 ++-
 2 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp
index baa431da..70d2842a 100644
--- a/Code/GamePhysics/Implementation/Octree.cpp
+++ b/Code/GamePhysics/Implementation/Octree.cpp
@@ -72,15 +72,13 @@ void Octree::DestroyObject(UniquePointer< ICustomBody > customBodyRef)
 	this->leafData.erase(this->leafData.begin() + this->leafData[this->mapReferences[customBodyRef]].queueRef);
 }
 
-std::vector<ICustomBody*> Octree::Sample(ICustomBody* customBodyRef)
+std::vector<ICustomBody*>& Octree::Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList)
 {
-	std::vector<ICustomBody*> list;
-
 	auto object = this->mapReferences.find(customBodyRef);
 
 	if(object == this->mapReferences.end())
 	{	
-		return list;
+		return updateList;
 	}	
 
 	unsigned int tempRef = object->second;
@@ -89,11 +87,24 @@ std::vector<ICustomBody*> Octree::Sample(ICustomBody* customBodyRef)
 	{
 		if(tempRef != i) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
 		{
-			list.push_back(this->leafData[i].customBodyRef);
+			updateList.push_back(this->leafData[i].customBodyRef);
 		}
 	}
 
-	return list;
+	return updateList;
+}
+
+std::vector<ICustomBody*>& Octree::Sample(::Collision3D::ICollideable* collideable, std::vector<ICustomBody*>& updateList)
+{
+	for(unsigned int i = 0; i<this->leafData.size(); i++)
+	{
+		if(this->leafData[i].container.Intersects(*collideable))
+		{
+			updateList.push_back(this->leafData[i].customBodyRef);
+		}
+	}
+
+	return updateList;
 }
 
 void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
@@ -116,6 +127,17 @@ void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
 	}
 }
 
+void Octree::Visit(::Collision3D::ICollideable* collideable, VistorAction hitAction)
+{
+	for(unsigned int i = 0; i<this->leafData.size(); i++)
+	{
+		if(this->leafData[i].container.Intersects(*collideable))
+		{
+			//hitAction(*this, tempRef, i); // @todo TODO: Add typedef to handle function calls with ICollideable
+		}
+	}
+}
+
 ICustomBody* Octree::GetCustomBody(const unsigned int tempRef)
 {
 	return this->leafData[tempRef].customBodyRef;
diff --git a/Code/GamePhysics/Implementation/Octree.h b/Code/GamePhysics/Implementation/Octree.h
index 5ef3b0a8..6340fa58 100644
--- a/Code/GamePhysics/Implementation/Octree.h
+++ b/Code/GamePhysics/Implementation/Octree.h
@@ -49,8 +49,10 @@ namespace Oyster
 
 			void DestroyObject(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
 
-			std::vector<ICustomBody*> Sample(ICustomBody* customBodyRef);
+			std::vector<ICustomBody*>& Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList);
+			std::vector<ICustomBody*>& Sample(Oyster::Collision3D::ICollideable* collideable, std::vector<ICustomBody*>& updateList);
 			void Visit(ICustomBody* customBodyRef, VistorAction hitAction );
+			void Visit(Oyster::Collision3D::ICollideable* collideable, VistorAction hitAction );
 
 			ICustomBody* GetCustomBody(const unsigned int tempRef);
 

From bddc3acad2dcc6a55b6bc7f1413d207d7bea6d7e Mon Sep 17 00:00:00 2001
From: Robin Engman <robinengman@hotmail.com>
Date: Fri, 29 Nov 2013 09:07:52 +0100
Subject: [PATCH 04/14] Changed from pointer to reference

Did it in sample and visit functions
---
 Code/GamePhysics/Implementation/Octree.cpp | 8 ++++----
 Code/GamePhysics/Implementation/Octree.h   | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp
index 70d2842a..1da6045b 100644
--- a/Code/GamePhysics/Implementation/Octree.cpp
+++ b/Code/GamePhysics/Implementation/Octree.cpp
@@ -94,11 +94,11 @@ std::vector<ICustomBody*>& Octree::Sample(ICustomBody* customBodyRef, std::vecto
 	return updateList;
 }
 
-std::vector<ICustomBody*>& Octree::Sample(::Collision3D::ICollideable* collideable, std::vector<ICustomBody*>& updateList)
+std::vector<ICustomBody*>& Octree::Sample(const Oyster::Collision3D::ICollideable& collideable, std::vector<ICustomBody*>& updateList)
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(this->leafData[i].container.Intersects(*collideable))
+		if(this->leafData[i].container.Intersects(collideable))
 		{
 			updateList.push_back(this->leafData[i].customBodyRef);
 		}
@@ -127,11 +127,11 @@ void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
 	}
 }
 
-void Octree::Visit(::Collision3D::ICollideable* collideable, VistorAction hitAction)
+void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, VistorAction hitAction)
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(this->leafData[i].container.Intersects(*collideable))
+		if(this->leafData[i].container.Intersects(collideable))
 		{
 			//hitAction(*this, tempRef, i); // @todo TODO: Add typedef to handle function calls with ICollideable
 		}
diff --git a/Code/GamePhysics/Implementation/Octree.h b/Code/GamePhysics/Implementation/Octree.h
index 6340fa58..96631605 100644
--- a/Code/GamePhysics/Implementation/Octree.h
+++ b/Code/GamePhysics/Implementation/Octree.h
@@ -50,9 +50,9 @@ namespace Oyster
 			void DestroyObject(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
 
 			std::vector<ICustomBody*>& Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList);
-			std::vector<ICustomBody*>& Sample(Oyster::Collision3D::ICollideable* collideable, std::vector<ICustomBody*>& updateList);
+			std::vector<ICustomBody*>& Sample(const Oyster::Collision3D::ICollideable& collideable, std::vector<ICustomBody*>& updateList);
 			void Visit(ICustomBody* customBodyRef, VistorAction hitAction );
-			void Visit(Oyster::Collision3D::ICollideable* collideable, VistorAction hitAction );
+			void Visit(const Oyster::Collision3D::ICollideable& collideable, VistorAction hitAction );
 
 			ICustomBody* GetCustomBody(const unsigned int tempRef);
 

From e4476f7757a79de5fee9ade50bf674584cbc5e4b Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Tue, 3 Dec 2013 15:11:13 +0100
Subject: [PATCH 05/14] Added function for ICustomBody

void ICustomBody::SetMomentum( const ::Oyster::Math::Float3 &worldG )
- Added and implemented
---
 Code/GamePhysics/Implementation/SimpleRigidBody.cpp    | 5 +++++
 Code/GamePhysics/Implementation/SimpleRigidBody.h      | 1 +
 Code/GamePhysics/Implementation/SphericalRigidBody.cpp | 5 +++++
 Code/GamePhysics/Implementation/SphericalRigidBody.h   | 1 +
 Code/GamePhysics/PhysicsAPI.h                          | 6 ++++++
 5 files changed, 18 insertions(+)

diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
index 70bc6938..ea75ffe3 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
@@ -177,4 +177,9 @@ void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
 void SimpleRigidBody::SetSize( const Float3 &size )
 {
 	this->rigid.SetSize( size );
+}
+
+void SimpleRigidBody::SetMomentum( const Float3 &worldG )
+{
+	this->rigid.SetLinearMomentum( worldG );
 }
\ No newline at end of file
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h
index a674a20d..5e05c9d7 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.h
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h
@@ -41,6 +41,7 @@ namespace Oyster { namespace Physics
 		void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
 		void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
 		void SetSize( const ::Oyster::Math::Float3 &size );
+		void SetMomentum( const ::Oyster::Math::Float3 &worldG );
 
 	private:
 		::Oyster::Physics3D::RigidBody rigid;
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
index c741a68a..03ed7d2a 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
@@ -183,4 +183,9 @@ void SphericalRigidBody::SetSize( const Float3 &size )
 {
 	this->rigid.SetSize( size );
 	this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
+}
+
+void SphericalRigidBody::SetMomentum( const Float3 &worldG )
+{
+	this->rigid.SetLinearMomentum( worldG );
 }
\ No newline at end of file
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h
index 37263e91..a25cba2c 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.h
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h
@@ -42,6 +42,7 @@ namespace Oyster { namespace Physics
 		void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
 		void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
 		void SetSize( const ::Oyster::Math::Float3 &size );
+		void SetMomentum( const ::Oyster::Math::Float3 &worldG );
 
 	private:
 		::Oyster::Physics3D::RigidBody rigid;
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index 29014214..56e46817 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -390,6 +390,12 @@ namespace Oyster
 			 * Use API::SetSize(...)
 			 ********************************************************/
 			virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
+
+			/********************************************************
+			 * To not be called if is in Engine
+			 * Use API::?? @todo TODO: 
+			 ********************************************************/
+			virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0;
 		};
 
 		struct API::SimpleBodyDescription

From b03e9af027620da96eaee49bc8d2c0f3726efd21 Mon Sep 17 00:00:00 2001
From: Robin Engman <robinengman@hotmail.com>
Date: Wed, 4 Dec 2013 09:51:48 +0100
Subject: [PATCH 06/14] Fixed octree and API

Rewrote AddObject function in octree and OnPossibleCollision in
PhysocsAPI_Impl
---
 Code/GamePhysics/Implementation/Octree.cpp          | 2 +-
 Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp
index 1da6045b..4da48863 100644
--- a/Code/GamePhysics/Implementation/Octree.cpp
+++ b/Code/GamePhysics/Implementation/Octree.cpp
@@ -39,7 +39,7 @@ void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
 	data.next = NULL;
 	data.prev = NULL;
 	data.customBodyRef = customBodyRef;
-	this->mapReferences.insert(std::pair <ICustomBody*, unsigned int> (customBodyRef, this->leafData.size()));
+	this->mapReferences.insert(std::pair <ICustomBody*, unsigned int> (data.customBodyRef, this->leafData.size()));
 	this->leafData.push_back(data);
 
 	/*if(tempPtr != NULL)
diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index 3d3080da..447a6c68 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -20,7 +20,7 @@ namespace
 
 		float deltaWhen;
 		Float3 worldWhere;
-		if( deuter->Intersects(*deuter, 1.0f, deltaWhen, worldWhere) )
+		if( proto->Intersects(*deuter, 1.0f, deltaWhen, worldWhere) )
 		{
 			proto->CallSubscription( proto, deuter );
 		}

From 1d94ed0ddcccde9ffa22b3342dd42ab0029519c2 Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 11:30:56 +0100
Subject: [PATCH 07/14] Fixed MomentOfInertia methods

---
 .../Implementation/PhysicsAPI_Impl.cpp        | 20 +++++++++----------
 Code/GamePhysics/PhysicsAPI.h                 | 12 +++++------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index 447a6c68..46b3369c 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -27,29 +27,29 @@ namespace
 	}
 }
 
-Float4x4 & MomentOfInertia::CreateSphereMatrix( const Float mass, const Float radius)
+Float4x4 & MomentOfInertia::CreateSphereMatrix( const Float mass, const Float radius, ::Oyster::Math::Float4x4 &targetMem )
 {
-	return Formula::MomentOfInertia::Sphere(mass, radius);
+	return targetMem = Formula::MomentOfInertia::Sphere(mass, radius);
 }
 
-Float4x4 & MomentOfInertia::CreateHollowSphereMatrix( const Float mass, const Float radius)
+Float4x4 & MomentOfInertia::CreateHollowSphereMatrix( const Float mass, const Float radius, ::Oyster::Math::Float4x4 &targetMem )
 {
-	return Formula::MomentOfInertia::HollowSphere(mass, radius);
+	return targetMem = Formula::MomentOfInertia::HollowSphere(mass, radius);
 }
 
-Float4x4 & MomentOfInertia::CreateCuboidMatrix( const Float mass, const Float height, const Float width, const Float depth )
+Float4x4 & MomentOfInertia::CreateCuboidMatrix( const Float mass, const Float height, const Float width, const Float depth, ::Oyster::Math::Float4x4 &targetMem )
 {
-	return Formula::MomentOfInertia::Cuboid(mass, height, width, depth);
+	return targetMem = Formula::MomentOfInertia::Cuboid(mass, height, width, depth);
 }
 
-Float4x4 & MomentOfInertia::CreateCylinderMatrix( const Float mass, const Float height, const Float radius )
+Float4x4 & MomentOfInertia::CreateCylinderMatrix( const Float mass, const Float height, const Float radius, ::Oyster::Math::Float4x4 &targetMem )
 {
-	return Formula::MomentOfInertia::Cylinder(mass, height, radius);
+	return targetMem = Formula::MomentOfInertia::Cylinder(mass, height, radius);
 }
 
-Float4x4 & MomentOfInertia::CreateRodMatrix( const Float mass, const Float length )
+Float4x4 & MomentOfInertia::CreateRodMatrix( const Float mass, const Float length, ::Oyster::Math::Float4x4 &targetMem )
 {
-	return Formula::MomentOfInertia::RodCenter(mass, length);
+	return targetMem = Formula::MomentOfInertia::RodCenter(mass, length);
 }
 
 API & API::Instance()
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index 56e46817..cd720abd 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -1,4 +1,4 @@
-#ifndef PHYSICS_API_H
+ #ifndef PHYSICS_API_H
 #define PHYSICS_API_H
 
 #include "OysterCollision3D.h"
@@ -31,15 +31,15 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE MomentOfInertia
 		{
 		public:
-			static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius);
+			static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 				
-			static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius);
+			static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 
-			static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
+			static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 
-			static ::Oyster::Math::Float4x4 & CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
+			static ::Oyster::Math::Float4x4 & CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 	
-			static ::Oyster::Math::Float4x4 & CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
+			static ::Oyster::Math::Float4x4 & CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 		};
 
 		class PHYSICS_DLL_USAGE API

From 080bbf68fdfece5ed2ad184c9018682e065ef1bc Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 11:42:11 +0100
Subject: [PATCH 08/14] Collideables fixed

Missing returns
---
 Code/OysterPhysics3D/Point.cpp  | 2 +-
 Code/OysterPhysics3D/Ray.cpp    | 2 +-
 Code/OysterPhysics3D/Sphere.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp
index cf1186c9..d81c91a3 100644
--- a/Code/OysterPhysics3D/Point.cpp
+++ b/Code/OysterPhysics3D/Point.cpp
@@ -38,7 +38,7 @@ bool Point::Intersects( const ICollideable &target ) const
 	case Type_universe: return true;
 	case Type_point: return Utility::Intersect( *this, *(Point*)&target );
 	case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance );
-	case Type_sphere: Utility::Intersect( *(Sphere*)&target, *this );
+	case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this );
 	case Type_plane: return Utility::Intersect( *(Plane*)&target, *this );
 	 //case Type_triangle: return false; // TODO: 
 	case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this );
diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp
index 09fb13ec..79e4dbd5 100644
--- a/Code/OysterPhysics3D/Ray.cpp
+++ b/Code/OysterPhysics3D/Ray.cpp
@@ -60,7 +60,7 @@ bool Ray::Contains( const ICollideable &target ) const
 	switch( target.type )
 	{
 	case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance );
-	case Type_ray: Utility::Contains( *this, *(Ray*)&target );
+	case Type_ray: return Utility::Contains( *this, *(Ray*)&target );
 	default: return false;
 	}
 }
\ No newline at end of file
diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp
index 0cc8bc3b..4f6f76f7 100644
--- a/Code/OysterPhysics3D/Sphere.cpp
+++ b/Code/OysterPhysics3D/Sphere.cpp
@@ -35,7 +35,7 @@ bool Sphere::Intersects( const ICollideable &target ) const
 	case Type_universe: return true;
 	case Type_point: return Utility::Intersect( *this, *(Point*)&target );
 	case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
-	case Type_sphere: Utility::Intersect( *this, *(Sphere*)&target );
+	case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target );
 	case Type_plane: return Utility::Intersect( *(Plane*)&target, *this );
 	// case Type_triangle: return false; // TODO: 
 	case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this );

From 202ee23b252627be7edf9f3cc37023c33042a18d Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 11:49:33 +0100
Subject: [PATCH 09/14] Octtree::leafData Container should be kept updated now

---
 Code/GamePhysics/Implementation/Octree.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp
index 4da48863..b841b49d 100644
--- a/Code/GamePhysics/Implementation/Octree.cpp
+++ b/Code/GamePhysics/Implementation/Octree.cpp
@@ -184,6 +184,7 @@ unsigned int Octree::GetTemporaryReferenceOf( const ICustomBody* objRef ) const
 
 void Octree::SetAsAltered( unsigned int tempRef )
 {
+	this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere();
 	//! @todo TODO: implement stub
 }
 

From e0adc0ae93d7c8d33c23f6c1ee7dc7dfeb8a2f3e Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 13:52:07 +0100
Subject: [PATCH 10/14] Sphere Vs Box collision detect fix

---
 Code/OysterPhysics3D/OysterCollision3D.cpp | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp
index 131cad62..95c56f81 100644
--- a/Code/OysterPhysics3D/OysterCollision3D.cpp
+++ b/Code/OysterPhysics3D/OysterCollision3D.cpp
@@ -393,8 +393,8 @@ namespace Oyster { namespace Collision3D { namespace Utility
 
 	bool Intersect( const BoxAxisAligned &box, const Sphere &sphere )
 	{ // by Dan Andersson
-		Float3 e = Max( box.minVertex - sphere.center, Float3::null );
-		e += Max( sphere.center - box.maxVertex, Float3::null );
+		Float4 e = Max( Float4(box.minVertex - sphere.center, 0.0f), Float4::null );
+		e += Max( Float4(sphere.center - box.maxVertex, 0.0f), Float4::null );
 
 		if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false;
 		return true;
@@ -459,12 +459,13 @@ namespace Oyster { namespace Collision3D { namespace Utility
 
 	bool Intersect( const Box &box, const Sphere &sphere )
 	{ // by Dan Andersson
-		Float3 e = sphere.center - box.center,
-			   centerL = Float3( e.Dot(box.xAxis), e.Dot(box.yAxis), e.Dot(box.zAxis) );
-		
-		e  = Max( (box.boundingOffset + centerL)*=-1.0f, Float3::null );
-		e += Max( centerL - box.boundingOffset, Float3::null );
-		
+		Float4 vCenter = Float4( sphere.center - box.center, 1.0f ); // sphere's center in the box's view space
+		vCenter = InverseRotationMatrix( box.rotation ) * vCenter;
+		vCenter.w = 0.0f;
+
+		Float4 e = Max( Float4(-box.boundingOffset, 0.0f) - vCenter, Float4::null );
+		e += Max( vCenter - Float4(-box.boundingOffset, 0.0f), Float4::null );
+
 		if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false;
 		return true;
 	}

From 7ad60969fc24912293276b04070c80f0cb55215b Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 14:12:06 +0100
Subject: [PATCH 11/14] Sphere Vs Box collision detect fix

second ed. ... Works now! :3
---
 Code/OysterPhysics3D/OysterCollision3D.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp
index 95c56f81..5df9761c 100644
--- a/Code/OysterPhysics3D/OysterCollision3D.cpp
+++ b/Code/OysterPhysics3D/OysterCollision3D.cpp
@@ -459,12 +459,11 @@ namespace Oyster { namespace Collision3D { namespace Utility
 
 	bool Intersect( const Box &box, const Sphere &sphere )
 	{ // by Dan Andersson
-		Float4 vCenter = Float4( sphere.center - box.center, 1.0f ); // sphere's center in the box's view space
-		vCenter = InverseRotationMatrix( box.rotation ) * vCenter;
-		vCenter.w = 0.0f;
+		// center: sphere's center in the box's view space
+		Float4 center = TransformVector( InverseRotationMatrix(box.rotation), Float4(sphere.center - box.center, 0.0f) );
 
-		Float4 e = Max( Float4(-box.boundingOffset, 0.0f) - vCenter, Float4::null );
-		e += Max( vCenter - Float4(-box.boundingOffset, 0.0f), Float4::null );
+		Float4 e = Max( Float4(-box.boundingOffset, 0.0f) - center, Float4::null );
+		e += Max( center - Float4(box.boundingOffset, 0.0f), Float4::null );
 
 		if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false;
 		return true;

From d0936f9133319fdb6edd109e8fefa16d15bd3c8b Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 4 Dec 2013 14:22:25 +0100
Subject: [PATCH 12/14] InverseRotationMatrix fixed

Compiler overstepping its bound, doing whatever it wants.
---
 Code/OysterMath/OysterMath.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp
index a82658ee..421ebc0b 100644
--- a/Code/OysterMath/OysterMath.cpp
+++ b/Code/OysterMath/OysterMath.cpp
@@ -103,7 +103,8 @@ namespace Oyster { namespace Math3D
 	
 	Float4x4 & InverseRotationMatrix( const Float4x4 &rotation, Float4x4 &targetMem )
 	{
-		return targetMem = ::LinearAlgebra3D::InverseRotationMatrix( rotation );
+//		return targetMem = ::LinearAlgebra3D::InverseRotationMatrix( rotation );
+		return targetMem = rotation.GetTranspose();
 	}
 
 	Float4x4 & OrientationMatrix( const Float3x3 &rotation, const Float3 &translation, Float4x4 &targetMem )

From 5835a72acc3d1ca18f037b4fdeaf982025e867ff Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Fri, 6 Dec 2013 09:46:30 +0100
Subject: [PATCH 13/14] Setstruct introduction done

Can be found as:
Physics::Struct::CustomBodyState
Physics::ICustomBody::State
Is all inline thus no expensive API calls, as intended.
Will be expanded to move API call methods from Physics::ICustomBody to
it.
---
 Code/GamePhysics/GamePhysics.vcxproj          |  14 +++
 Code/GamePhysics/GamePhysics.vcxproj.filters  |   6 +
 .../Implementation/SimpleRigidBody.cpp        |  17 +++
 .../Implementation/SimpleRigidBody.h          |   4 +
 .../Implementation/SphericalRigidBody.cpp     |  17 +++
 .../Implementation/SphericalRigidBody.h       |   4 +
 Code/GamePhysics/PhysicsAPI.h                 |  78 +++++-------
 Code/GamePhysics/PhysicsStructs-Impl.h        | 117 ++++++++++++++++++
 Code/GamePhysics/PhysicsStructs.h             |  70 +++++++++++
 Code/OysterMath/LinearMath.h                  |  57 ++++++++-
 Code/OysterMath/OysterMath.cpp                |  35 +++++-
 Code/OysterMath/OysterMath.h                  |   9 ++
 12 files changed, 373 insertions(+), 55 deletions(-)
 create mode 100644 Code/GamePhysics/PhysicsStructs-Impl.h
 create mode 100644 Code/GamePhysics/PhysicsStructs.h

diff --git a/Code/GamePhysics/GamePhysics.vcxproj b/Code/GamePhysics/GamePhysics.vcxproj
index 540002a1..06e64fd1 100644
--- a/Code/GamePhysics/GamePhysics.vcxproj
+++ b/Code/GamePhysics/GamePhysics.vcxproj
@@ -91,9 +91,12 @@
       <Optimization>Disabled</Optimization>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@@ -102,9 +105,12 @@
       <Optimization>Disabled</Optimization>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
@@ -115,11 +121,14 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@@ -130,11 +139,14 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
@@ -154,6 +166,8 @@
     <ClInclude Include="Implementation\SimpleRigidBody.h" />
     <ClInclude Include="Implementation\SphericalRigidBody.h" />
     <ClInclude Include="PhysicsAPI.h" />
+    <ClInclude Include="PhysicsStructs-Impl.h" />
+    <ClInclude Include="PhysicsStructs.h" />
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\Octree.cpp" />
diff --git a/Code/GamePhysics/GamePhysics.vcxproj.filters b/Code/GamePhysics/GamePhysics.vcxproj.filters
index 694a8ec7..15221691 100644
--- a/Code/GamePhysics/GamePhysics.vcxproj.filters
+++ b/Code/GamePhysics/GamePhysics.vcxproj.filters
@@ -36,6 +36,12 @@
     <ClInclude Include="Implementation\Octree.h">
       <Filter>Header Files\Implementation</Filter>
     </ClInclude>
+    <ClInclude Include="PhysicsStructs.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="PhysicsStructs-Impl.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
index ea75ffe3..934c843f 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
@@ -42,6 +42,23 @@ UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
 	return new SimpleRigidBody( *this );
 }
 
+SimpleRigidBody::State SimpleRigidBody::GetState() const
+{
+	return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
+{
+	return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
+{ /** @todo TODO: temporary solution! Need to know it's occtree */
+	this->rigid.box.boundingOffset = state.GetReach();
+	this->rigid.box.center = state.GetCenterPosition();
+	this->rigid.box.rotation = state.GetRotation();
+}
+
 void SimpleRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter )
 {
 	this->collisionAction( proto, deuter );
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h
index 5e05c9d7..774420c5 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.h
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h
@@ -15,6 +15,10 @@ namespace Oyster { namespace Physics
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
 		
+		State GetState() const;
+		State & GetState( State &targetMem ) const;
+		void SetState( const State &state );
+
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
index 03ed7d2a..34160192 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
@@ -44,6 +44,23 @@ UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
 	return new SphericalRigidBody( *this );
 }
 
+SphericalRigidBody::State SphericalRigidBody::GetState() const
+{
+	return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
+{
+	return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
+{ /** @todo TODO: temporary solution! Need to know it's occtree */
+	this->rigid.box.boundingOffset = state.GetReach();
+	this->rigid.box.center = state.GetCenterPosition();
+	this->rigid.box.rotation = state.GetRotation();
+}
+
 void SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter )
 {
 	this->collisionAction( proto, deuter );
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h
index a25cba2c..1aca514d 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.h
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h
@@ -16,6 +16,10 @@ namespace Oyster { namespace Physics
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
 		
+		State GetState() const;
+		State & GetState( State &targetMem = State() ) const;
+		void SetState( const State &state );
+
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index cd720abd..387bf0e6 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -1,4 +1,4 @@
- #ifndef PHYSICS_API_H
+#ifndef PHYSICS_API_H
 #define PHYSICS_API_H
 
 #include "OysterCollision3D.h"
@@ -17,6 +17,13 @@ namespace Oyster
 		class API;
 		class ICustomBody;
 
+		namespace Struct
+		{
+			struct SimpleBodyDescription;
+			struct SphericalBodyDescription;
+			struct CustomBodyState;
+		}
+
 		enum UpdateState
 		{
 			UpdateState_resting,
@@ -32,7 +39,7 @@ namespace Oyster
 		{
 		public:
 			static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
-				
+			
 			static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
 
 			static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
@@ -45,8 +52,8 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE API
 		{
 		public:
-			struct SimpleBodyDescription;
-			struct SphericalBodyDescription;
+			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
+			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
 
 			typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
 
@@ -237,6 +244,9 @@ namespace Oyster
 			};
 
 			typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
+			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
+			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
+			typedef Struct::CustomBodyState State;
 
 			virtual ~ICustomBody() {};
 
@@ -251,6 +261,21 @@ namespace Oyster
 			 ********************************************************/
 			virtual void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) = 0;
 
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual State GetState() const = 0;
+
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual State & GetState( State &targetMem ) const = 0;
+
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual void SetState( const State &state ) = 0;
+
 			/********************************************************
 			 * @return true if Engine should apply gravity on this object.
 			 ********************************************************/
@@ -397,48 +422,9 @@ namespace Oyster
 			 ********************************************************/
 			virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0;
 		};
-
-		struct API::SimpleBodyDescription
-		{
-			::Oyster::Math::Float4x4 rotation;
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float3 size;
-			::Oyster::Math::Float mass;
-			::Oyster::Math::Float4x4 inertiaTensor;
-			ICustomBody::EventAction_Collision subscription;
-			bool ignoreGravity;
-
-			SimpleBodyDescription()
-			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->size = ::Oyster::Math::Float3( 1.0f );
-				this->mass = 12.0f;
-				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
-				this->subscription = NULL;
-				this->ignoreGravity = false;
-			}
-		};
-
-		struct API::SphericalBodyDescription
-		{
-			::Oyster::Math::Float4x4 rotation;
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float radius;
-			::Oyster::Math::Float mass;
-			ICustomBody::EventAction_Collision subscription;
-			bool ignoreGravity;
-
-			SphericalBodyDescription()
-			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->radius = 0.5f;
-				this->mass = 10.0f;
-				this->subscription = NULL;
-				this->ignoreGravity = false;
-			}
-		};
 	}
 }
+
+#include "PhysicsStructs.h"
+
 #endif
\ No newline at end of file
diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h
new file mode 100644
index 00000000..3de46ee2
--- /dev/null
+++ b/Code/GamePhysics/PhysicsStructs-Impl.h
@@ -0,0 +1,117 @@
+#ifndef PHYSICS_STRUCTS_IMPL_H
+#define PHYSICS_STRUCTS_IMPL_H
+
+#include "PhysicsStructs.h"
+
+namespace Oyster { namespace Physics
+{
+	namespace Struct
+	{
+		inline SimpleBodyDescription::SimpleBodyDescription()
+		{
+			this->rotation = ::Oyster::Math::Float4x4::identity;
+			this->centerPosition = ::Oyster::Math::Float3::null;
+			this->size = ::Oyster::Math::Float3( 1.0f );
+			this->mass = 12.0f;
+			this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
+			this->subscription = NULL;
+			this->ignoreGravity = false;
+		}
+
+		inline SphericalBodyDescription::SphericalBodyDescription()
+		{
+			this->rotation = ::Oyster::Math::Float4x4::identity;
+			this->centerPosition = ::Oyster::Math::Float3::null;
+			this->radius = 0.5f;
+			this->mass = 10.0f;
+			this->subscription = NULL;
+			this->ignoreGravity = false;
+		}
+
+
+		inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 &centerPos, const ::Oyster::Math::Float3 &rotation )
+		{
+			this->reach = ::Oyster::Math::Float4( reach, 0.0f );
+			this->centerPos = ::Oyster::Math::Float4( centerPos, 1.0f );
+			this->angularAxis = ::Oyster::Math::Float4( rotation, 0.0f );
+			this->isSpatiallyAltered = this->isDisturbed = false;
+		}
+
+		inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
+		{
+			this->reach = state.reach;
+			this->centerPos = state.centerPos;
+			this->angularAxis = state.angularAxis;
+
+			this->isSpatiallyAltered = state.isSpatiallyAltered;
+			this->isDisturbed = state.isDisturbed;
+			return *this;
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const
+		{
+			return this->reach;
+		}
+
+		inline ::Oyster::Math::Float4 CustomBodyState::GetSize() const
+		{
+			return 2.0f * this->GetReach();
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetCenterPosition() const
+		{
+			return this->centerPos;
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularAxis() const
+		{
+			return this->angularAxis;
+		}
+
+		inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
+		{
+			return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz );
+		}
+
+		inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size )
+		{
+			this->SetReach( 0.5f * size );
+		}
+
+		inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize )
+		{
+			this->reach.xyz = halfSize;
+			this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null );
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 &centerPos )
+		{
+			this->centerPos.xyz = centerPos;
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis )
+		{
+			this->angularAxis.xyz = angularAxis;
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
+		{
+			this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation).xyz );
+		}
+
+		inline bool CustomBodyState::IsSpatiallyAltered() const
+		{
+			return this->isSpatiallyAltered;
+		}
+
+		inline bool CustomBodyState::IsDisturbed() const
+		{
+			return this->isDisturbed;
+		}
+	}
+} }
+
+#endif
\ No newline at end of file
diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h
new file mode 100644
index 00000000..c1f74640
--- /dev/null
+++ b/Code/GamePhysics/PhysicsStructs.h
@@ -0,0 +1,70 @@
+#ifndef PHYSICS_STRUCTS_H
+#define PHYSICS_STRUCTS_H
+
+#include "OysterMath.h"
+#include "PhysicsAPI.h"
+
+namespace Oyster { namespace Physics
+{
+	namespace Struct
+	{
+		struct SimpleBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float3 size;
+			::Oyster::Math::Float mass;
+			::Oyster::Math::Float4x4 inertiaTensor;
+			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SimpleBodyDescription();
+		};
+
+		struct SphericalBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float radius;
+			::Oyster::Math::Float mass;
+			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SphericalBodyDescription();
+		};
+
+		struct CustomBodyState
+		{
+		public:
+			CustomBodyState( const ::Oyster::Math::Float3 &reach		= ::Oyster::Math::Float3::null,
+							 const ::Oyster::Math::Float3 &centerPos	= ::Oyster::Math::Float3::null,
+							 const ::Oyster::Math::Float3 &rotation		= ::Oyster::Math::Float3::null );
+
+			CustomBodyState & operator = ( const CustomBodyState &state );
+
+			const ::Oyster::Math::Float4 & GetReach() const;
+				  ::Oyster::Math::Float4   GetSize() const;
+			const ::Oyster::Math::Float4 & GetCenterPosition() const;
+			const ::Oyster::Math::Float4 & GetAngularAxis() const;
+				  ::Oyster::Math::Float4x4 GetRotation() const;
+
+			void SetSize( const ::Oyster::Math::Float3 &size );
+			void SetReach( const ::Oyster::Math::Float3 &halfSize );
+			void SetCenterPosition( const ::Oyster::Math::Float3 &centerPos );
+			void SetRotation( const ::Oyster::Math::Float3 &angularAxis );
+			void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
+
+			bool IsSpatiallyAltered() const;
+			bool IsDisturbed() const;
+
+		private:
+			::Oyster::Math::Float4 reach, centerPos, angularAxis;
+
+			bool isSpatiallyAltered, isDisturbed;
+		};
+	}
+} }
+
+#include "PhysicsStructs-Impl.h"
+
+#endif
\ No newline at end of file
diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h
index 0495939d..8bca1c19 100644
--- a/Code/OysterMath/LinearMath.h
+++ b/Code/OysterMath/LinearMath.h
@@ -11,6 +11,27 @@
 #include "Quaternion.h"
 #include <math.h>
 
+namespace std
+{
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector2<ScalarType> asin( const ::LinearAlgebra::Vector2<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector2<ScalarType>( asin(vec.x), asin(vec.y) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector3<ScalarType> asin( const ::LinearAlgebra::Vector3<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector3<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> asin( const ::LinearAlgebra::Vector4<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector4<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z), asin(vec.w) );
+	}
+}
+
 // x2
 
 template<typename ScalarType>
@@ -233,6 +254,18 @@ namespace LinearAlgebra2D
 
 namespace LinearAlgebra3D
 {
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
+	{
+		return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &rotationMatrix )
+	{
+		return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
+	}
+
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix4x4<ScalarType> & TranslationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &position, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{
@@ -286,7 +319,9 @@ namespace LinearAlgebra3D
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix3x3<ScalarType> & RotationMatrix_AxisZ( const ScalarType &radian, ::LinearAlgebra::Matrix3x3<ScalarType> &targetMem = ::LinearAlgebra::Matrix3x3<ScalarType>() )
-	{ return ::LinearAlgebra2D::RotationMatrix( radian, targetMem ); }
+	{
+		return ::LinearAlgebra2D::RotationMatrix( radian, targetMem );
+	}
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix_AxisZ( const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
@@ -300,7 +335,21 @@ namespace LinearAlgebra3D
 	}
 
 	template<typename ScalarType>
-	::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis, const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &angularAxis )
+	{
+		ScalarType radian = angularAxis.GetMagnitude();
+		if( radian != 0 )
+		{
+			return RotationMatrix( angularAxis / radian, radian );
+		}
+		else
+		{
+			return ::LinearAlgebra::Matrix4x4<ScalarType>::identity;
+		}
+	}
+
+	template<typename ScalarType>
+	::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis, const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{ /// TODO: not verified
 		ScalarType r = radian * 0.5f,
 				   s = std::sin( r ),
@@ -462,7 +511,7 @@ namespace LinearAlgebra3D
 	::LinearAlgebra::Matrix4x4<ScalarType> & ProjectionMatrix_Perspective( const ScalarType &vertFoV, const ScalarType &aspect, const ScalarType &nearClip, const ScalarType &farClip, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{ 
 		ScalarType fov = 1 / ::std::tan( vertFoV * 0.5f ),
-					dDepth = farClip / (farClip - nearClip);
+				   dDepth = farClip / (farClip - nearClip);
 		return targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>( fov / aspect, 0, 0, 0, 
 																   0, fov, 0, 0,
 																   0, 0, dDepth, -(dDepth * nearClip),
@@ -473,7 +522,7 @@ namespace LinearAlgebra3D
 	::LinearAlgebra::Matrix4x4<ScalarType> & ProjectionMatrix_Perspective( const ScalarType &left, const ScalarType &right, const ScalarType &top, const ScalarType &bottom, const ScalarType &nearClip, const ScalarType &farClip, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{ /** @todo TODO: not tested */
 		ScalarType fov = 1 / ::std::tan( vertFoV * 0.5f ),
-					dDepth = farClip / (farClip - nearClip);
+				   dDepth = farClip / (farClip - nearClip);
 		return targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>( 2*nearClip/(right - left), 0, -(right + left)/(right - left), 0,
 																   0, 2*nearClip/(top - bottom), -(top + bottom)/(top - bottom), 0,
 																   0, 0, dDepth, -(dDepth * nearClip),
diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp
index 421ebc0b..cf9fa8ae 100644
--- a/Code/OysterMath/OysterMath.cpp
+++ b/Code/OysterMath/OysterMath.cpp
@@ -81,20 +81,45 @@ namespace Oyster { namespace Math2D
 
 namespace Oyster { namespace Math3D
 {
+	Float4 AngularAxis( const Float3x3 &rotationMatrix )
+	{
+		return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
+	}
+
+	Float4 AngularAxis( const Float4x4 &rotationMatrix )
+	{
+		return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
+	}
+
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::TranslationMatrix( position, targetMem ); }
+	{
+		return ::LinearAlgebra3D::TranslationMatrix( position, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisX( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisX( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisX( radian, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisY( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisY( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisY( radian, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisZ( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisZ( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisZ( radian, targetMem );
+	}
+
+	Float4x4 & RotationMatrix( const Float3 &angularAxis, Float4x4 &targetMem )
+	{
+		return targetMem = ::LinearAlgebra3D::RotationMatrix( angularAxis );
+	}
 
 	Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem );
+	}
 	
 	Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem )
 	{
diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h
index ab3b307f..72fe7478 100644
--- a/Code/OysterMath/OysterMath.h
+++ b/Code/OysterMath/OysterMath.h
@@ -147,6 +147,12 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
 {
 	using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace
 
+	//! Extracts the angularAxis from rotationMatrix
+	Float4 AngularAxis( const Float3x3 &rotationMatrix );
+
+	//! Extracts the angularAxis from rotationMatrix
+	Float4 AngularAxis( const Float4x4 &rotationMatrix );
+
 	/// Sets and returns targetMem to a translationMatrix with position as translation. 
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );
 
@@ -159,6 +165,9 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
 	/// Sets and returns targetMem as an counterclockwise rotation matrix around the global Z-axis
 	Float4x4 & RotationMatrix_AxisZ( const Float &radian, Float4x4 &targetMem = Float4x4() );
 
+	/// Sets and returns targetMem as an counterclockwise rotation matrix around the angularAxis.
+	Float4x4 & RotationMatrix( const Float3 &angularAxis, Float4x4 &targetMem = Float4x4() );
+
 	/// Sets and returns targetMem as an counterclockwise rotation matrix around the normalizedAxis.
 	/// Please make sure normalizedAxis is normalized.
 	Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem = Float4x4() );

From c740bd593566070d744d1eb562ede6e1c88bd5b9 Mon Sep 17 00:00:00 2001
From: Robin Engman <robinengman@hotmail.com>
Date: Thu, 12 Dec 2013 10:02:35 +0100
Subject: [PATCH 14/14] Added some data to PhysicsAPI

GetRigidLinearVelocity() and void* as reference to game object.
---
 Bin/Content/Shaders/TextureDebug.cso          | Bin 14560 -> 14560 bytes
 .../Implementation/SimpleRigidBody.cpp        |   6 ++++++
 .../Implementation/SimpleRigidBody.h          |   1 +
 .../Implementation/SphericalRigidBody.cpp     |   5 +++++
 .../Implementation/SphericalRigidBody.h       |   1 +
 Code/GamePhysics/PhysicsAPI.h                 |  10 ++++++++++
 6 files changed, 23 insertions(+)

diff --git a/Bin/Content/Shaders/TextureDebug.cso b/Bin/Content/Shaders/TextureDebug.cso
index 0dc6bcffa9d17cf2aa80d41dbe8b05fa689ed0ac..23c9aa238f2caca3ef27eaef75cc83f52464c37c 100644
GIT binary patch
delta 623
zcmaD*_@Ge4CBn&h70aI$-5H{x-{K2bK8^fgxKZQ+kA#2a${<Dt1_s6WBE6qReqK`w
zSY2cSSh+X<;d#P1d4+_<=FcKAjE3AmC5b?s0K_2WARx&Ep$`Bl38-KJlxCkik;!`V
z0|5>;*$!r)yt7q|OPHaFxp|CxW{E;jYC(Q+W=Vcg<>Xo7rjvEV#YM`%lIcLnB7~%;
zxVH!nT`stEm`;|I=ogTFWWcxvXs_n8s5<fQ=NKmk3J6bLz$80aL6XN5<RB0LIa&iq
zgA|`$|MpiNkbeNkPXJ<=hk#5lNSvG~DbAVzWG8M`WKL$>{6Ojs6XSu+du84E8Ba`R
z)%9m~=t!L$uA3_p4^%|Jzd{mt6gW&y)=QlHfQLmASLD2({8!HeR{*$AuG8noB?$^0
zZcA363%P(86j^pa3<82c%nrmoK+FlmAOKRQ1jHOb3{uZFS&(<f<Oc>EqQO9|2|#=v
Qh%JCJAaG*yUxUZ&0A8h{KmY&$

delta 494
zcmaD*_@Ge4CBn&>|Fq1T6$_ab$!`j??QVUnv{B>&kHmxQIYEpJ3=Hz;J|3t}>GPdk
z_Pus_LGp~ve|VlSZkFIrVAKo-N(TY)5+HsD#1BF0(SQX|jB)Zp0sF}dm@GCw5a3|r
z4`2qWakh$aNz8M~Oe~)KK-Zm{A=xS>B{44v#9yy(I(e437#m#Lbn;Jeejpbr>o7S+
zqGfW5u<B%1eqlc8M+S^*fCerxcyrzV{p5ENcBVW~H-Oxv0mL9Br`Nyzl?QYS$gLnZ
zgXEAw@Z>~EaaNE_@McBkWX8=8r0y^=F4??S)}5bm&16<xf93<Sev`v>bNK>+icp;I
zjp|hH$@O}PK<~;-e!#;bi7Om0PyVZCg7B2-<SKnd1lLFR8Ps)xK$;!OW(Cq*K+Fcj
qN<hp3#C1T-Ia!eR%H#(I9HQnxFD3x-W+1iz%7DOx&3_FZvjYGUM2u_z

diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
index 934c843f..80e352ea 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
@@ -124,6 +124,12 @@ Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
 	return targetMem = this->rigid.GetView();
 }
 
+Float3 SimpleRigidBody::GetRigidLinearVelocity() const
+{
+	return this->rigid.GetLinearVelocity();
+}
+
+
 UpdateState SimpleRigidBody::Update( Float timeStepLength )
 {
 	this->rigid.Update_LeapFrog( timeStepLength );
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h
index 774420c5..9eefeb48 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.h
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h
@@ -18,6 +18,7 @@ namespace Oyster { namespace Physics
 		State GetState() const;
 		State & GetState( State &targetMem ) const;
 		void SetState( const State &state );
+		::Oyster::Math::Float3 GetRigidLinearVelocity() const;
 
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
index 34160192..364d7454 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
@@ -126,6 +126,11 @@ Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
 	return targetMem = this->rigid.GetView();
 }
 
+Float3 SphericalRigidBody::GetRigidLinearVelocity() const
+{
+	return this->rigid.GetLinearVelocity();
+}
+
 UpdateState SphericalRigidBody::Update( Float timeStepLength )
 {
 	this->rigid.Update_LeapFrog( timeStepLength );
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h
index 1aca514d..4d003f99 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.h
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h
@@ -19,6 +19,7 @@ namespace Oyster { namespace Physics
 		State GetState() const;
 		State & GetState( State &targetMem = State() ) const;
 		void SetState( const State &state );
+		::Oyster::Math::Float3 GetRigidLinearVelocity() const;
 
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index 387bf0e6..84a3d639 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -243,6 +243,11 @@ namespace Oyster
 				SubscriptMessage_ignore_collision_response
 			};
 
+			/********************************************************
+			 * @param gameObjectRef: a pointer to the object in the game owning the rigid body.
+			 ********************************************************/
+			void* gameObjectRef;
+
 			typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
 			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
 			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
@@ -271,6 +276,11 @@ namespace Oyster
 			 ********************************************************/
 			virtual State & GetState( State &targetMem ) const = 0;
 
+			/********************************************************
+			 * @return the linear velocity of the rigid body in a vector.
+			 ********************************************************/
+			virtual Math::Float3 GetRigidLinearVelocity() const = 0;
+
 			/********************************************************
 			 * @todo TODO: need doc
 			 ********************************************************/